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| 并联机构4-RPR(RR)的基础分析 | |
| 引用本文： | 宋振新,刘爽,彭艳敏,郭希娟.并联机构4-RPR(RR)的基础分析[J].燕山大学学报,2006,30(4):300-304. |
| 作者姓名： | 宋振新 刘爽 彭艳敏 郭希娟 |
| 作者单位： | 1. 河北能源职业技术学院,河北,唐山,063004 2. 燕山大学,电气工程学院,河北,秦皇岛,066004 3. 燕山大学,信息科学与工程学院,河北,秦皇岛,066004 |
| 摘 要： | 讨论了一种新型少自由度并联机构4-RPR(RR),描述了机构的特性并利用螺旋理论分析了它的运动,计算了自由度,给出了机构的位置反解,利用虚设机构法建立了一阶影响系数矩阵并对机构进行了速度分析及仿真。这些是对该机构进一步分析的基础,包括其运动学、动力学分析,因此是具有实际价值的。 |
| 关 键 词： | 位置反解 速度分析 |
| 文章编号： | 1007-791X(2006)04-0300-05 |
| 修稿时间： | 2005年3月1日 |
Basic analysis on 4-RPR (RR) parallel mechanisms |
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| SONG Zhen-xin,LIU Shuang,PENG Yan-min,GUO Xi-juan.Basic analysis on 4-RPR (RR) parallel mechanisms[J].Journal of Yanshan University,2006,30(4):300-304. | |
| Authors: | SONG Zhen-xin LIU Shuang PENG Yan-min GUO Xi-juan |
| Abstract: | In this paper, a new type lower-mobility symmetrical parallel mechanism, 4-RPR (RR) has been discussed chiefly including its mechanistic characteristic and its motion based on screw theory. Meanwhile its freedom is calculated and inverse kin- ematics on this kind of mechanistic is presented. Furthermore one-order influence coefficient matrix is erected based on nominal mechanism influence coefficient. Finally its velocity analysis and simulation are presented. All these are the basis of more analysis on this kind of mechanisms including kinematics and dynamics. Therefore all presented in this paper are value of practice. |
| Keywords: | 4-RPR(RR) |
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